CN205817139U - A kind of Bidirectional mobile Automobile Welding robot - Google Patents
A kind of Bidirectional mobile Automobile Welding robot Download PDFInfo
- Publication number
- CN205817139U CN205817139U CN201620567087.5U CN201620567087U CN205817139U CN 205817139 U CN205817139 U CN 205817139U CN 201620567087 U CN201620567087 U CN 201620567087U CN 205817139 U CN205817139 U CN 205817139U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- actuator
- revolute pair
- subchain
- welding robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Resistance Welding (AREA)
Abstract
The utility model discloses a kind of Bidirectional mobile Automobile Welding robot, including actuator subchain and actuator main chain, described actuator subchain includes support, front-wheel, trailing wheel, first connecting rod, second connecting rod, third connecting rod, fourth link, principal arm；Described actuator main chain includes slide block, shoulder arm, bracket, plumb joint；First connecting rod and third connecting rod bear the driving force of motor, drive actuator to move, and actuator subchain drives actuator main chain to carry out welding action；Principal arm can carry out translation and move up and down simultaneously；Actuator subchain adds welding robot rigidity, and chute can make actuator main chain carry out two-way welding simultaneously, and this utility model architecture is simple and convenient to operate, weld that space is big, rigidity is big and structure is reliable.
Description
Technical field
This utility model relates to automobile spot welding robot field, is specifically related to a kind of Bidirectional mobile Automobile Welding machine
People.
Background technology
Welding robot is the industrial robot being engaged in welding (including cutting and spraying), and industrial robot is a kind of multiplex
Way, the operation machine that automatically controls (Manipulator) of repeatable programming, have three or more programmable axle, for work
Industry automatic field.In order to adapt to different purposes, the mechanical interface of last axle of robot a, it is common that connection method
Orchid, can be hinged with different instrument or claim end effector.Auto parts robot palletizer is exactly the last shaft flange at industrial robot
Attaching soldering turret or weldering (cutting) rifle, make it to carry out welding, cutting or thermal spraying.
Traditional auto parts robot palletizer, serial mechanism is main, and manual operation is auxiliary.But this operation exists tired
Meter error is big, the shortcomings such as precision is the highest, and bearing capacity is little, and error easily occurs in manual operation, is difficult to save labour force and carry
High workload efficiency.Emerging parallel institution compares with traditional serial mechanism, has the following characteristics that without cumulative error, precision
Higher；Mechanism type parallel institution has lightweight, and speed is high, and dynamic response is good；Compact conformation, rigidity are high, working place big, hold
Loading capability is big, can effectively make up the deficiency of conventional serial welding robot, so that reliable operation.
Summary of the invention
In view of the foregoing, this utility model provides a kind of Bidirectional mobile Automobile Welding robot, reach two-way weldering
Connect the purpose increasing welding space.
This utility model reaches above-mentioned purpose by the following technical programs: a kind of Bidirectional mobile Automobile Welding robot,
Include actuator subchain and actuator main chain.
Described actuator subchain include support, front-wheel, trailing wheel, first connecting rod, second connecting rod, third connecting rod, the 4th
Connecting rod, principal arm, front-wheel is arranged on support front end, and trailing wheel is arranged on back-end support, first connecting rod one end by the first revolute pair with
Support front end connects, and the first connecting rod other end is connected with second connecting rod one end by the second revolute pair, and the second connecting rod other end leads to
Crossing the 3rd revolute pair and be connected end connection with principal arm first, fourth link one end is connected with principal arm second by the 4th revolute pair
End connects, and the fourth link other end is connected with third connecting rod one end by the 5th revolute pair, and the third connecting rod other end passes through the 6th
Revolute pair is connected with back-end support.
Described principal arm is provided with chute, in order to install slide block.
Described actuator main chain includes slide block, shoulder arm, bracket, plumb joint, and slide block one end is installed to by moving sets
On chute, the slide block other end is connected with shoulder arm one end by the 7th revolute pair, and the shoulder arm other end is by the 8th revolute pair and bracket
One end connects, and the bracket other end is connected with plumb joint by the 9th revolute pair.
Described first connecting rod and third connecting rod length are equal；Described second connecting rod is identical with fourth link structure.
Described way moving work Automobile Welding robot operation principle is: support is fixed, and first connecting rod and third connecting rod hold
By the driving force of motor, driving actuator to move, it is dynamic that actuator subchain drives actuator main chain to carry out welding
Make；Principal arm can carry out translation and move up and down simultaneously；Actuator subchain adds welding robot rigidity, and chute is permissible simultaneously
Actuator main chain is made to carry out two-way welding.
Useful benefit of the present utility model has:
1, mechanism can weld with way moving, increases welding space, makes work more reliable；
2, actuator subchain adds welding robot rigidity, and that actuator main chain can be made to carry out is two-way for chute simultaneously
Welding；
3, flexible operation is light.
Accompanying drawing explanation
Fig. 1 is a kind of Bidirectional mobile Automobile Welding robot architecture's schematic diagram of the present utility model.
Fig. 2 is a kind of Bidirectional mobile Automobile Welding robot architecture's front view of the present utility model.
Fig. 3 is a kind of Bidirectional mobile Automobile Welding robot architecture's rearview of the present utility model.
Fig. 4 is a kind of Bidirectional mobile of the present utility model Automobile Welding robot work structuring schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the technical solution of the utility model is described further by embodiment.
Comparison Fig. 1, this utility model reaches above-mentioned purpose by the following technical programs: a kind of Bidirectional mobile Automobile Welding
Robot, includes actuator subchain and actuator main chain.
Described actuator subchain includes support 10, front-wheel 11, trailing wheel 12, first connecting rod 20, second connecting rod the 30, the 3rd
Connecting rod 40, fourth link 50, principal arm 60, front-wheel 11 is arranged on support 10 front end, and trailing wheel 20 is arranged on support 10 rear end, and first even
Bar 20 one end is connected with support 11 front end by the first revolute pair 110, and the first connecting rod other end passes through the second revolute pair 111 and the
Two connecting rod 30 one end connect, and second connecting rod 30 other end is connected end by the 3rd revolute pair 112 and connects with principal arm 60 first, the
Double leval jib 50 one end is connected end connection by the 4th revolute pair 115 with principal arm 60 second, and fourth link 50 other end passes through the
Five revolute pairs 114 are connected with third connecting rod 40 one end, and third connecting rod 40 other end is by the 6th revolute pair 113 and support 10 rear end
Connect.
Described principal arm 60 is provided with chute 61, in order to install slide block.
Described actuator main chain includes slide block 70, shoulder arm 80, bracket 90, plumb joint 100, and slide block 70 one end is by moving
Dynamic secondary 119 are installed on chute 61, and slide block 70 other end is connected with shoulder arm 90 one end by the 7th revolute pair 116, and shoulder arm 90 is another
One end is connected with bracket 90 one end by the 8th rotation 117 is secondary, and bracket 90 other end passes through the 9th revolute pair 118 and plumb joint
100 connect.
Described first connecting rod 20 and third connecting rod 40 length are equal；Described second connecting rod 30 and fourth link 50 structure phase
With.
Described way moving work Automobile Welding robot operation principle is: support is fixed, and first connecting rod and third connecting rod hold
By the driving force of motor, driving actuator to move, it is dynamic that actuator subchain drives actuator main chain to carry out welding
Make；Principal arm can carry out translation and move up and down simultaneously；Actuator subchain adds welding robot rigidity, and chute is permissible simultaneously
Actuator main chain is made to carry out two-way welding.
Claims (2)
1. a Bidirectional mobile Automobile Welding robot, it is characterised in that: include actuator subchain and actuator master
Chain；
Described actuator subchain include support, front-wheel, trailing wheel, first connecting rod, second connecting rod, third connecting rod, fourth link,
Principal arm, front-wheel is arranged on support front end, and trailing wheel is arranged on back-end support, before first connecting rod one end is by the first revolute pair and support
End connects, and the first connecting rod other end is connected with second connecting rod one end by the second revolute pair, and the second connecting rod other end passes through the 3rd
Revolute pair is connected end and connects with principal arm first, and fourth link one end is connected end even by the 4th revolute pair with principal arm second
Connecing, the fourth link other end is connected with third connecting rod one end by the 5th revolute pair, and the third connecting rod other end is by the 6th rotation
Pair is connected with back-end support；
Described principal arm is provided with chute, in order to install slide block；
Described actuator main chain includes slide block, shoulder arm, bracket, plumb joint, and slide block one end is installed to chute by moving sets
On, the slide block other end is connected with shoulder arm one end by the 7th revolute pair, and the shoulder arm other end is by the 8th revolute pair and bracket one end
Connecting, the bracket other end is connected with plumb joint by the 9th revolute pair.
A kind of Bidirectional mobile the most according to claim 1 Automobile Welding robot, it is characterised in that: described first connecting rod
Equal with third connecting rod length；Described second connecting rod is identical with fourth link structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620567087.5U CN205817139U (en) | 2016-06-10 | 2016-06-10 | A kind of Bidirectional mobile Automobile Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620567087.5U CN205817139U (en) | 2016-06-10 | 2016-06-10 | A kind of Bidirectional mobile Automobile Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205817139U true CN205817139U (en) | 2016-12-21 |
Family
ID=57568670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620567087.5U Expired - Fee Related CN205817139U (en) | 2016-06-10 | 2016-06-10 | A kind of Bidirectional mobile Automobile Welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205817139U (en) |
-
2016
- 2016-06-10 CN CN201620567087.5U patent/CN205817139U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN201776752U (en) | Six-degree-of-freedom precise heavy-duty manipulator | |
| CN105855762A (en) | Welding system based on robot technology | |
| CN110000760B (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| CN204657779U (en) | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot | |
| CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
| CN105682863A (en) | Articulated arm robot-type device | |
| CN105904131A (en) | Full-automatic welding mechanical arm | |
| CN105965523A (en) | Large-range flexible-operated robot | |
| CN208914108U (en) | A kind of articulated robot | |
| CN109693057A (en) | Multi-angle Frame Welding robot | |
| CN102881338B (en) | 1T2R parallel three-degree-of-freedom pose alignment platform | |
| CN205817139U (en) | A kind of Bidirectional mobile Automobile Welding robot | |
| CN216299295U (en) | Mechanical arm with multiple degrees of freedom | |
| CN205914906U (en) | Welding system based on robotechnology | |
| CN111152207B (en) | Winding wrist and control method thereof | |
| CN113580125A (en) | Mechanical arm with multiple degrees of freedom | |
| KR20120131370A (en) | 7 degree of freedom robot arm | |
| CN219311272U (en) | Inverted manipulator device for laser processing | |
| JP3134091B2 (en) | Double-arm telescopic robot | |
| CN204545772U (en) | A kind of multi link welding robot containing closed-loop subchain | |
| CN220007807U (en) | Industrial material taking mechanical arm | |
| CN204686870U (en) | A kind of seven-link assembly mechanism type mobile welding robot | |
| CN201613934U (en) | Operating device of walking pipe charging machine | |
| CN213614721U (en) | Air conditioner spare part precision welding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161221 Termination date: 20170610 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |